FRC 2021 Infinite Recharge @ Home Strategy Part 3 Shooting Locations
A major part of our cycle is shooting balls into the power port. Although it would be nice to be able to use vision systems and variable factors on our shooter to be able to consistently shoot balls into the power port from any location, this is nearly impossible. What most teams and our team have found to be successful in the past is to identify one or two locations where our robot will be able to reach and shoot from and tune our shooter to work at that location.
For this year's season, those specific locations appear to be fairly obvious at a first glance.
The defense triangle is located up against the loading bay and against the power port, meaning that if any part of our robot is intersecting the vertical plane created by hose lines other robots will not be able to touch us without receiving penalties. That location is on the opposite side of the field but is also a very short distance fo a shot meaning that any errors in our shooter have smaller margins. A second ideal location is the trench run. The long blue and red rectangles are defense protected when a robot is completely inside the vertical plane created by those lines. Throughout the entire trench, there will be open space for the robot to move and take a shot. The path back to intaking balls from this location is fairly defense protected, meaning that the robot will be able to travel quickly back.
We also contemplated a far shot from the side of the trench close to the loading bay as it would allow us to have much shorter cycle times, but it would likely consume lots of power and be inaccurate, so driving to the trench would be more worth it in terms of points/second.
If we are able to score enough points fast enough, the robot will not need to drive back to the other side of the field to intake balls as the opposing alliance would be forced to dump balls at their loading bay. In that case, the closest place to shoot from will again be the defense-protected triangle, which means that we should be able to consistently shoot 3-point shots from that specific location as we will able to reach it quickest.
The shooter is the most important part of our robot and it needs to be versatile yet reliable, meaning we need to predict the exact variability we should have so we can make shots from multiple locations. In the next post, we will look at some theoretical geometry and make decisions on the variability of our shooter, as well as a "high" or "low" robot, a big discussion that we had as a team.